The singer fell from the podium during her performance at the Brit Awards after one of dancers accidentally pulled her down a flight of stairs.
Madonna was standing at the top of the stairs wearing a long cape with a flowing train that billowed down to the stage, singing the first words of Living for Love.
She appeared to be struggling to take off the cape, and when a dancer at the bottom tried to whip it away he took Madonna with it.
But the singer soon recovered and returned to continue the song.
The 56-year-old later posted a statement assuring her fans she was “fine” and that her cape had been “tied too tight”.
“Nothing can stop me and love really lifted me up,” she wrote on Instagram, referencing the lyrics to her song. “Thanks for your good wishes!”
The incident took place at the end of the ceremony where Ed Sheeran and Sam Smith shared the honours, winning two awards each.
An average of 5.3 million people tuned in to the ceremony on ITV, according to overnight ratings – rising to 5.8 million when ITV+1 viewers are added in.
That is up from the 4.6 million who tuned in last year – but less than 2013’s overnight audience of 6.5 million.
Ed took home the night’s main award, album of the year, for his record X – which was the best-selling record of 2014 in the UK.
“I was really worried abut this album,” he said, accepting his trophy from actor Russell Crowe. “It took a long time to make.”
The star added it had been a “very, very good year for British music”.
“I don’t think a statue gives justification of people’s success,” he continued.
Sam Smith took home best breakthrough artist and the global success award – recognising album sales outside the UK.
“Since I was a little kid I dreamed of people all over the world singing my songs and although I’ve got a long way to go, this shows that I’m stepping in the right direction.”
Earlier, Taylor Swift opened the show, performing her hit single Blank Space surrounded by dancers in white suits and bowler hats.
“I started out playing King’s College [in London] and eight years later I’m getting ready to play Hyde Park,” she said backstage. “It’s like… what?”
“Oh my god, wow,” said Swift. “I’ve been coming to England and playing shows for eight years and this is my first Brit Award, I’m so happy.”
Paloma Faith was named best British female, and also alluded to her slow-building career.
“This has been 13 years in the making and I’m going to gob off a bit,” she told the audience at London’s O2 Arena.
“Mark Ronson won best single for Uptown Funk, while Brighton rock duo Royal Blood were presented with best British Group by rock legend Jimmy Page,” BBC reports.
“The band also performed at the show, alongside George Ezra and Kanye West, who premiered a new song All Day, which had to be heavily censored by ITV.”